Delay dependent stability condition for the port Hamiltonian systems with time varying delay

This paper proposes the delay dependent stability condition for the nonlinear port Hamiltonian (pH) systems with time varying delay. A modified Lyapunov-Krasovskii functional is used to derive a sufficient condition for asypmtotical stablity in terms of LMIs. The derived sufficient condition is less conservative than ones shown in the literature. Numerical example is given to show effectiveness of the proposed method.